【作者】 余艳；

【导师】 洪海； 曹克忠；

【作者基本信息】 东北大学 ， 软件工程， 2009， 硕士

【摘要】 随着智能机器人技术的不断发展,应用领域的不断扩大,智能型家用机器人的研发已成为一项极具应用前景的高新技术行业,而且也是智能机器人目前研究的一个重要热点。本文完成了家用轮式移动机器人控制系统软硬件平台构建、自动避障系统的算法实现、步进驱动系统及超声波避障系统的开发。智能型家用机器人平台不但要灵活、可靠,而且还要便于移植和功能扩展。根据以上要求,本文基本内容组织如下:介绍了嵌入式操作系统在机器人中应用的必要性,轮式移动机器人硬件平台的设计,说明了所构建的基于ARM的轮式移动机器人系统的总体结构。基于S3C44B0X+uClinux系统平台开发出步进电机运动控制系统。说明了轮式移动机器人选用步进电机的优越性。设计出步进电机驱动电路,开发出嵌入式Linux下的步进电机设备驱动程序。最后,本文探讨了超声波测距系统的软硬件实现及自动避障系统的工作过程。设计出超声波测距系统的硬件电路,开发出在嵌入式Linux系统下的超声波设备驱动程序。在Linux环境下运用避障算法编写出应用程序,应用超声波设备传回的外围环境信息,通过控制决策调用步进电机设备驱动,使机器人实现了避障、导航功能。然后对整个机器人平台进行总结,作出了性能改进,为下一步机器人的研发工作奠定了基础。更多还原

【Abstract】 With the gradual development of the intelligent robot technology and the gradual spread of application field, research and development of intelligent home robot, being the center of interest in the rising research presently, has been becoming a high technology industry with promising future. This paper introduces the system platform construction of robot controller, control algorithms realization of automatic obstacle avoidance system, development of stepper motor driving system and ultrasonic measuring system.The platform of intelligent home robot should be flexible, dependable and easy to port and extend. This paper is organized as following. The importance of embedded operating system is introduced. The design of hardware platform and the whole system structure of wheeled mobile robot based on ARM architecture microprocessor are described. Stepper motor movement control system based on S3C44BOX+μClinuxsystem and advantage of stepper motor are introduced, including the design of stepper motor driver circuitry and development of device driver program in Embedded Linux system.Finally, the realization of software and hardware of ultrasonic measuring system and running process of automatic obstacle avoidance system are discussed, including design of ultrasonic measuring system circuitry and development of ultrasonic device driver program. According to obstacle avoidance algorithms, depended on periphery circumstance information from ultrasonic sensors, the application program designed in Linux running environment, is able to make use of stepper motor device driver and realize the function of obstacle avoidance and navigation. Then, this paper summarizes the performance of robot platform, put forward capability improvements and establishes foundation for future development of home robot.更多还原